OpenRaiser/Intern-Atlas huggingface dataset:
Lipschitzness Is All You Need To Tame Off-policy Generative Adversarial Imitation Learning
Venue: arXiv cs.LG 2023
Year: 2023

Despite the recent success of reinforcement learning in various domains, these approaches remain, for the most part, deterringly sensitive to hyper-parameters and are often riddled with essential engineering feats allowing their success. We consider the case of off-policy generative adversarial imitation learning, and perform an in-depth review, qualitative and quantitative, of the method. We show that forcing the learned reward function to be local Lipschitz-continuous is a sine qua non condition for the method to perform well. We then study the effects of this necessary condition and provide several theoretical results involving the local Lipschitzness of the state-value function. We complement these guarantees with empirical evidence attesting to the strong positive effect that the consistent satisfaction of the Lipschitzness constraint on the reward has on imitation performance. Finally, we tackle a generic pessimistic reward preconditioning add-on spawning a large class of reward shaping methods, which makes the base method it is plugged into provably more robust, as shown in several additional theoretical guarantees. We then discuss these through a fine-grained lens and share our insights. Crucially, the guarantees derived and reported in this work are valid for any reward satisfying the Lipschitzness condition, nothing is specific to imitation. As such, these may be of independent interest.
MAESTRO-X: Distributed Orchestration of Rotary-Wing UAV-Relay Swarms
Venue: arXiv cs.IT 2023
Year: 2023

This work details a scalable framework to orchestrate a swarm of rotary-wing UAVs serving as cellular relays to facilitate beyond line-of-sight connectivity and traffic offloading for ground users. First, a Multiscale Adaptive Energy-conscious Scheduling and TRajectory Optimization (MAESTRO) framework is developed for a single UAV. Aiming to minimize the time-averaged latency to serve user requests, subject to an average UAV power constraint, it is shown that the optimization problem can be cast as a semi-Markov decision process, and exhibits a multiscale structure: outer actions on radial wait velocities and terminal service positions minimize the long-term delay-power trade-off, optimized via value iteration; given these outer actions, inner actions on angular wait velocities and service trajectories minimize a short-term delay-energy cost. A novel hierarchical competitive swarm optimization scheme is developed in the inner optimization, to devise high-resolution trajectories via iterative pair-wise updates. Next, MAESTRO is eXtended to UAV swarms (MAESTRO-X) via scalable policy replication: enabled by a decentralized command-and-control network, the optimal single-agent policy is augmented with spread maximization, consensus-driven conflict resolution, adaptive frequency reuse, and piggybacking. Numerical evaluations show that, for user requests of 10 Mbits, generated according to a Poisson arrival process with rate 0.2 req/min/UAV, single-agent MAESTRO offers 3.8x faster service than a high-altitude platform and 29% faster than a static UAV deployment; moreover, for a swarm of 3 UAV-relays, MAESTRO-X delivers data payloads 4.7x faster than a successive convex approximation scheme; and remarkably, a single UAV optimized via MAESTRO outclasses 3 UAVs optimized via a deep-Q network by 38%.
Decentralized policy learning with partial observation and mechanical constraints for multiperson modeling
Venue: arXiv cs.LG 2023
Year: 2023

Extracting the rules of real-world multi-agent behaviors is a current challenge in various scientific and engineering fields. Biological agents independently have limited observation and mechanical constraints; however, most of the conventional data-driven models ignore such assumptions, resulting in lack of biological plausibility and model interpretability for behavioral analyses. Here we propose sequential generative models with partial observation and mechanical constraints in a decentralized manner, which can model agents' cognition and body dynamics, and predict biologically plausible behaviors. We formulate this as a decentralized multi-agent imitation-learning problem, leveraging binary partial observation and decentralized policy models based on hierarchical variational recurrent neural networks with physical and biomechanical penalties. Using real-world basketball and soccer datasets, we show the effectiveness of our method in terms of the constraint violations, long-term trajectory prediction, and partial observation. Our approach can be used as a multi-agent simulator to generate realistic trajectories using real-world data.
A model of interaction semantics
Venue: arXiv cs.AI 2023
Year: 2023

Purpose: The purpose of this article is to propose, based on a model of an interaction semantics, a certain understanding of the ''meaning'' of the exchanged characters within an interaction. Methodology: Based on a model of system interaction, I structure the model of interaction semantics similar to the semantics of a formal language: first, I identify adequate variables in my interaction model to assign values to, and second, I identify the interpretation function to provide meaning. Thereby I arrive at a model of interaction semantics which, in the sense of the late Ludwig Wittgenstein, can do without a 'mental' mapping from characters to concepts. Findings: The key findings are a better understanding of the tight relation between the informatical approach to model interactions and game theory; of the central 'chicken and egg' problem, any natural language has to solve, namely that to interact sensibly, we have to understand each other and to acquire a common understanding, we have to interact with each other, which I call the 'simultaneous interaction and understanding (SIAU)' problem; why ontologies are less 'semantic' then their proponents suggest; and how 'semantic' interoperability is to be achieved. Value: The main value of the proposed model of interaction semantics is that it could be applied in many different disciplines and therefore could serve as a basis for scientists of natural sciences and humanities as well as engineers to understand each other more easily talking about semantics, especially with the advent of cyber-physical systems.
Defeasible RDFS via Rational Closure
Venue: arXiv cs.AI 2023
Year: 2023

In the field of non-monotonic logics, the notion of Rational Closure (RC) is acknowledged as a prominent approach. In recent years, RC has gained even more popularity in the context of Description Logics (DLs), the logic underpinning the semantic web standard ontology language OWL 2, whose main ingredients are classes and roles. In this work, we show how to integrate RC within the triple language RDFS, which together with OWL2 are the two major standard semantic web ontology languages. To do so, we start from $ρdf$, which is the logic behind RDFS, and then extend it to $ρdf_\bot$, allowing to state that two entities are incompatible. Eventually, we propose defeasible $ρdf_\bot$ via a typical RC construction. The main features of our approach are: (i) unlike most other approaches that add an extra non-monotone rule layer on top of monotone RDFS, defeasible $ρdf_\bot$ remains syntactically a triple language and is a simple extension of $ρdf_\bot$ by introducing some new predicate symbols with specific semantics. In particular, any RDFS reasoner/store may handle them as ordinary terms if it does not want to take account for the extra semantics of the new predicate symbols; (ii) the defeasible $ρdf_\bot$ entailment decision procedure is build on top of the $ρdf_\bot$ entailment decision procedure, which in turn is an extension of the one for $ρdf$ via some additional inference rules favouring an potential implementation; and (iii) defeasible $ρdf_\bot$ entailment can be decided in polynomial time.
Static pricing for multi-unit prophet inequalities
Venue: arXiv cs.GT 2023
Year: 2023

We study a pricing problem where a seller has $k$ identical copies of a product, buyers arrive sequentially, and the seller prices the items aiming to maximize social welfare. When $k=1$, this is the so called "prophet inequality" problem for which there is a simple pricing scheme achieving a competitive ratio of $1/2$. On the other end of the spectrum, as $k$ goes to infinity, the asymptotic performance of both static and adaptive pricing is well understood. We provide a static pricing scheme for the small-supply regime: where $k$ is small but larger than $1$. Prior to our work, the best competitive ratio known for this setting was the $1/2$ that follows from the single-unit prophet inequality. Our pricing scheme is easy to describe as well as practical -- it is anonymous, non-adaptive, and order-oblivious. We pick a single price that equalizes the expected fraction of items sold and the probability that the supply does not sell out before all customers are served; this price is then offered to each customer while supply lasts. This extends an approach introduced by Samuel-Cahn for the case of $k=1$. This pricing scheme achieves a competitive ratio that increases gradually with the supply. Subsequent work by Jiang, Ma, and Zhang shows that our pricing scheme is the optimal static pricing for every value of $k$.
A Faster Exponential Time Algorithm for Bin Packing With a Constant Number of Bins via Additive Combinatorics
Venue: arXiv cs.DS 2023
Year: 2023

In the Bin Packing problem one is given $n$ items with weights $w_1,\ldots,w_n$ and $m$ bins with capacities $c_1,\ldots,c_m$. The goal is to find a partition of the items into sets $S_1,\ldots,S_m$ such that $w(S_j) \leq c_j$ for every bin $j$, where $w(X)$ denotes $\sum_{i \in X}w_i$. Björklund, Husfeldt and Koivisto (SICOMP 2009) presented an $\mathcal{O}^\star(2^n)$ time algorithm for Bin Packing. In this paper, we show that for every $m \in \mathbf{N}$ there exists a constant $σ_m >0$ such that an instance of Bin Packing with $m$ bins can be solved in $\mathcal{O}(2^{(1-σ_m)n})$ randomized time. Before our work, such improved algorithms were not known even for $m$ equals $4$. A key step in our approach is the following new result in Littlewood-Offord theory on the additive combinatorics of subset sums: For every $δ>0$ there exists an $\varepsilon >0$ such that if $|\{ X\subseteq \{1,\ldots,n \} : w(X)=v \}| \geq 2^{(1-\varepsilon)n}$ for some $v$ then $|\{ w(X): X \subseteq \{1,\ldots,n\} \}|\leq 2^{δn}$.
Improved Approximation Algorithms for Tverberg Partitions
Venue: arXiv cs.CG 2023
Year: 2023

$\newcommand{\floor}[1]{\left\lfloor {#1} \right\rfloor} \renewcommand{\Re}{\mathbb{R}}$ Tverberg's theorem states that a set of $n$ points in $\Re^d$ can be partitioned into $\floor{n/(d+1)}$ sets with a common intersection. A point in this intersection (aka Tverberg point) is a centerpoint of the input point set, and the Tverberg partition provides a compact proof of this, which is algorithmically useful. Unfortunately, computing a Tverberg point exactly requires $n^{O(d^2)}$ time. We provide several new approximation algorithms for this problem, which improve either the running time or quality of approximation, or both. In particular, we provide the first strongly polynomial (in both $n$ and $d$) approximation algorithm for finding a Tverberg point.
Flow-augmentation II: Undirected graphs
Venue: arXiv cs.DS 2023
Year: 2023

We present an undirected version of the recently introduced flow-augmentation technique: Given an undirected multigraph $G$ with distinguished vertices $s,t \in V(G)$ and an integer $k$, one can in randomized $k^{O(1)} \cdot (|V(G)| + |E(G)|)$ time sample a set $A \subseteq \binom{V(G)}{2}$ such that the following holds: for every inclusion-wise minimal $st$-cut $Z$ in $G$ of cardinality at most $k$, $Z$ becomes a minimum-cardinality cut between $s$ and $t$ in $G+A$ (i.e., in the multigraph $G$ with all edges of $A$ added) with probability $2^{-O(k \log k)}$. Compared to the version for directed graphs [STOC 2022], the version presented here has improved success probability ($2^{-O(k \log k)}$ instead of $2^{-O(k^4 \log k)}$), linear dependency on the graph size in the running time bound, and an arguably simpler proof. An immediate corollary is that the Bi-objective $st$-Cut problem can be solved in randomized FPT time $2^{O(k \log k)} (|V(G)|+|E(G)|)$ on undirected graphs.
Signal Enhancement for Magnetic Navigation Challenge Problem
Venue: arXiv cs.LG 2023
Year: 2023

Harnessing the magnetic field of the Earth for navigation has shown promise as a viable alternative to other navigation systems. A magnetic navigation system collects its own magnetic field data using a magnetometer and uses magnetic anomaly maps to determine the current location. The greatest challenge with magnetic navigation arises when the magnetic field measurements from the magnetometer encompass the magnetic field from not just the Earth, but also from the vehicle on which it is mounted. It is difficult to separate the Earth magnetic anomaly field, which is crucial for navigation, from the total magnetic field reading from the sensor. The purpose of this challenge problem is to decouple the Earth and aircraft magnetic signals in order to derive a clean signal from which to perform magnetic navigation. Baseline testing on the dataset has shown that the Earth magnetic field can be extracted from the total magnetic field using machine learning (ML). The challenge is to remove the aircraft magnetic field from the total magnetic field using a trained model. This challenge offers an opportunity to construct an effective model for removing the aircraft magnetic field from the dataset by using a scientific machine learning (SciML) approach comprised of an ML algorithm integrated with the physics of magnetic navigation.
Growing Efficient Deep Networks by Structured Continuous Sparsification
Venue: arXiv cs.LG 2023
Year: 2023

We develop an approach to growing deep network architectures over the course of training, driven by a principled combination of accuracy and sparsity objectives. Unlike existing pruning or architecture search techniques that operate on full-sized models or supernet architectures, our method can start from a small, simple seed architecture and dynamically grow and prune both layers and filters. By combining a continuous relaxation of discrete network structure optimization with a scheme for sampling sparse subnetworks, we produce compact, pruned networks, while also drastically reducing the computational expense of training. For example, we achieve $49.7\%$ inference FLOPs and $47.4\%$ training FLOPs savings compared to a baseline ResNet-50 on ImageNet, while maintaining $75.2\%$ top-1 accuracy -- all without any dedicated fine-tuning stage. Experiments across CIFAR, ImageNet, PASCAL VOC, and Penn Treebank, with convolutional networks for image classification and semantic segmentation, and recurrent networks for language modeling, demonstrate that we both train faster and produce more efficient networks than competing architecture pruning or search methods.
FRMDN: Flow-based Recurrent Mixture Density Network
Venue: arXiv cs.LG 2023
Year: 2023

The class of recurrent mixture density networks is an important class of probabilistic models used extensively in sequence modeling and sequence-to-sequence mapping applications. In this class of models, the density of a target sequence in each time-step is modeled by a Gaussian mixture model with the parameters given by a recurrent neural network. In this paper, we generalize recurrent mixture density networks by defining a Gaussian mixture model on a non-linearly transformed target sequence in each time-step. The non-linearly transformed space is created by normalizing flow. We observed that this model significantly improves the fit to image sequences measured by the log-likelihood. We also applied the proposed model on some speech and image data, and observed that the model has significant modeling power outperforming other state-of-the-art methods in terms of the log-likelihood.
Trustworthy AI Inference Systems: An Industry Research View
Venue: arXiv cs.CR 2023
Year: 2023

In this work, we provide an industry research view for approaching the design, deployment, and operation of trustworthy Artificial Intelligence (AI) inference systems. Such systems provide customers with timely, informed, and customized inferences to aid their decision, while at the same time utilizing appropriate security protection mechanisms for AI models. Additionally, such systems should also use Privacy-Enhancing Technologies (PETs) to protect customers' data at any time. To approach the subject, we start by introducing current trends in AI inference systems. We continue by elaborating on the relationship between Intellectual Property (IP) and private data protection in such systems. Regarding the protection mechanisms, we survey the security and privacy building blocks instrumental in designing, building, deploying, and operating private AI inference systems. For example, we highlight opportunities and challenges in AI systems using trusted execution environments combined with more recent advances in cryptographic techniques to protect data in use. Finally, we outline areas of further development that require the global collective attention of industry, academia, and government researchers to sustain the operation of trustworthy AI inference systems.
Deterministic Replacement Path Covering
Venue: arXiv cs.DS 2023
Year: 2023

In this article, we provide a unified and simplified approach to derandomize central results in the area of fault-tolerant graph algorithms. Given a graph $G$, a vertex pair $(s,t) \in V(G)\times V(G)$, and a set of edge faults $F \subseteq E(G)$, a replacement path $P(s,t,F)$ is an $s$-$t$ shortest path in $G \setminus F$. For integer parameters $L,f$, a replacement path covering (RPC) is a collection of subgraphs of $G$, denoted by $\textit{G}_{L,f}=\{G_1,\ldots, G_r \}$, such that for every set $F$ of at most $f$ faults (i.e., $|F|\le f$) and every replacement path $P(s,t,F)$ of at most $L$ edges, there exists a subgraph $G_i\in \textit{G}_{L,f}$ that contains all the edges of $P$ and does not contain any of the edges of $F$. The covering value of the RPC $\textit{G}_{L,f}$ is then defined to be the number of subgraphs in $\textit{G}_{L,f}$. We present efficient deterministic constructions of $(L,f)$-RPCs whose covering values almost match the randomized ones, for a wide range of parameters. Our time and value bounds improve considerably over the previous construction of Parter (DISC 2019). We also provide an almost matching lower bound for the value of these coverings. A key application of our above deterministic constructions is the derandomization of the algebraic construction of the distance sensitivity oracle by Weimann and Yuster (FOCS 2010). The preprocessing and query time of the our deterministic algorithm nearly match the randomized bounds. This resolves the open problem of Alon, Chechik and Cohen (ICALP 2019).
Costs and benefits of authentication advice
Venue: arXiv cs.CR 2023
Year: 2023

Authentication security advice is given with the goal of guiding users and organisations towards secure actions and practices. In this paper, we demonstrate that security advice can be ambiguous, contradictory and at times may not even have any clear benefits. We expand on current work by defining a formal approach to identifying costs of security advice and instigate a user study to identify the costs that apply to a large range of authentication advice. We also apply a simple framework for analysing the authentication related security benefits of advice. This allows us to identify costs and benefits for all classes of security advice.
Layered Drawing of Undirected Graphs with Generalized Port Constraints
Venue: arXiv cs.DS 2023
Year: 2023

The aim of this research is a practical method to draw cable plans of complex machines. Such plans consist of electronic components and cables connecting specific ports of the components. Since the machines are configured for each client individually, cable plans need to be drawn automatically. The drawings must be well readable so that technicians can use them to debug the machines. In order to model plug sockets, we introduce port groups; within a group, ports can change their position (which we use to improve the aesthetics of the layout), but together the ports of a group must form a contiguous block. We approach the problem of drawing such cable plans by extending the well-known Sugiyama framework such that it incorporates ports and port groups. Since the framework assumes directed graphs, we propose several ways to orient the edges of the given undirected graph. We compare these methods experimentally, both on real-world data and synthetic data that carefully simulates real-world data. We measure the aesthetics of the resulting drawings by counting bends and crossings. Using these metrics, we experimentally compare our approach to Kieler [JVLC 2014], a library for drawing graphs in the presence of port constraints. Our method produced 10--30 % fewer crossings, while it performed equally well or slightly worse than Kieler with respect to the number of bends and the time used to compute a drawing.
Graph neural networks-based Scheduler for Production planning problems using Reinforcement Learning
Venue: arXiv cs.LG 2023
Year: 2023

Reinforcement learning (RL) is increasingly adopted in job shop scheduling problems (JSSP). But RL for JSSP is usually done using a vectorized representation of machine features as the state space. It has three major problems: (1) the relationship between the machine units and the job sequence is not fully captured, (2) exponential increase in the size of the state space with increasing machines/jobs, and (3) the generalization of the agent to unseen scenarios. We present a novel framework - GraSP-RL, GRAph neural network-based Scheduler for Production planning problems using Reinforcement Learning. It represents JSSP as a graph and trains the RL agent using features extracted using a graph neural network (GNN). While the graph is itself in the non-euclidean space, the features extracted using the GNNs provide a rich encoding of the current production state in the euclidean space, which is then used by the RL agent to select the next job. Further, we cast the scheduling problem as a decentralized optimization problem in which the learning agent is assigned to all the production units and the agent learns asynchronously from the data collected on all the production units. The GraSP-RL is then applied to a complex injection molding production environment with 30 jobs and 4 machines. The task is to minimize the makespan of the production plan. The schedule planned by GraSP-RL is then compared and analyzed with a priority dispatch rule algorithm like first-in-first-out (FIFO) and metaheuristics like tabu search (TS) and genetic algorithm (GA). The proposed GraSP-RL outperforms the FIFO, TS, and GA for the trained task of planning 30 jobs in JSSP. We further test the generalization capability of the trained agent on two different problem classes: Open shop system (OSS) and Reactive JSSP (RJSSP) where our method produces results better than FIFO and comparable results to TS and GA.